Changeset 4696 in orxonox.OLD for orxonox/trunk/src/lib/collision_detection

Timestamp:

Jun 25, 2005, 12:22:50 AM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: started calculating the prjection axis

Location:

orxonox/trunk/src/lib/collision_detection

Files:

• obb_tree.cc (modified) (1 diff)
• obb_tree.h (modified) (1 diff)
• obb_tree_node.cc (modified) (2 diffs)

orxonox/trunk/src/lib/collision_detection/obb_tree.cc

@@ -105 +105 @@
 void OBBTree::collideWith(BVTree* tree)
 {
-  //this->rootNode->collideWith(tree->);
+  this->rootNode->collideWith(((OBBTree*)tree)->getRootNode());
 }
 

orxonox/trunk/src/lib/collision_detection/obb_tree.h

@@ -34 +34 @@
     Material* getTransparentMaterial(unsigned int depth) { return transparentMaterial[depth%5]; }
     int getID() { return ++this->id;}
-
+    inline OBBTreeNode* getRootNode() { return this->rootNode; }
 
     void debug();

orxonox/trunk/src/lib/collision_detection/obb_tree_node.cc

@@ -606 +606 @@
 void OBBTreeNode::collideWith(BVTreeNode* treeNode)
 {
+  PRINTF(0)("collideWith");
   /* if the obb overlap, make subtests: check which node is realy overlaping  */
   if( this->overlapTest(this->bvElement, ((OBBTreeNode*)treeNode)->bvElement))
@@ -624 +625 @@
 bool OBBTreeNode::overlapTest(OBB* boxA, OBB* boxB)
 {
-
-}
+  /* first check all axis */
+  float r = 0.0f;
+  Vector l = boxA->axis[0];
+  for(int i = 0; i < 3; ++i)
+  {
+    r += boxA->halfLength[i] * boxA->axis[i].dot(l);
+  }
+
+  printf("r = %f\n", r);
+  /* now check all orthogonals from the axis */
+}
+